CN209449955U - From driving luggage case and from driving chassis - Google Patents

Abstract

It is a kind of to drive luggage case and certainly driving chassis certainly, it is described to include a cabinet (disk body) and an actuator wheel module from driving luggage case (from driving chassis), cabinet described in the actuator wheel module couples and include a pedestal, one wheel and a steering motor, the pedestal has a first axle and a second axis, the pedestal couples the cabinet (disk body) and can rotate around the first axle, the wheel couples the pedestal and can rotate around the second axis, the wheel includes a wheel body and an advance motor, the advance motor is set to the wheel in vivo and includes a motor stator and a rotor, the motor stator is fixed in the pedestal, the rotor is fixed in the wheel body and is rotationally sheathed on the motor stator, the motor stator is to drive the rotor to rotate, it is wherein described Steering motor drives the pedestal to rotate relative to the cabinet (disk body) around the first axle when reception one turns to signal.

Description

From driving luggage case and from driving chassis

Technical field

The utility model relates to a kind of from driving luggage case and from driving chassis, have more particularly to one kind and follow automatically The driving luggage case certainly of function and certainly driving chassis.

Background technique

Existing luggage case can provide a material-putting space, so that user places personal luggage, so that user can be outgoing Personal luggage is carried when travelling or going on a public errand.However, existing luggage case has no power source of the configuration to mobile luggage case.Cause This needs user to need manpower mobile in mobile luggage case, and in addition to using more inconvenience, the structure of existing luggage case is configured And in design, also do not have intelligentized basis, do not meet the trend of contemporary product, it can not also provide using further Usage experience.

In addition, though there is part existing file or product to disclose the concept of Intelligent luggage carrier, however these driving wheels are all The design wheeled using fixation, manipulation freedom degree it is small cause it is inconvenient for use.Multidirectional driving wheel concept is even mentioned, Also all lack rigorous research and structure implementation detail, the product across the epoch can not be become.

Utility model content

Therefore, the utility model provide it is a kind of with follow automatically function from driving luggage case and from driving chassis, with It solves the above problems.

To solve the above problems, the utility model disclose it is a kind of with follow automatically function from driving luggage case, include An one cabinet at least actuator wheel module, described at least one is coupled to the cabinet and includes a pedestal and a wheel, the bottom Seat tool has a first axle and a second axis, the pedestal be coupled to the cabinet and can the relatively described cabinet around described first Axis rotation, the wheel are coupled to the pedestal and can rotate relative to the pedestal around the second axis, the wheel attached bag Containing a wheel body and an advance motor, the wheel body is adapted for contact with a ground, and the advance motor is set to the wheel in vivo, institute Stating advance motor includes a motor stator and a rotor, and the motor stator is fixed in the pedestal, and the motor turns Son is fixed in the wheel body and is rotationally sheathed on the motor stator, and the steering motor is coupled to the pedestal, wherein The motor stator drives the rotor to rotate and drive the wheel body, makes the wheel body when reception one controls signal It can be rolled on the ground, wherein the steering motor drives the relatively described case of the pedestal when reception one turns to signal Body is rotated around the first axle.

According to an embodiment, the pedestal has two ears, and the second axis runs through two ear, the wheel position Between two ear, the wheel also includes a fixed link, and there is a first end, a second end and a stator to fix Portion, the fixed link are fixed on one of described two ear via the first end, and the fixed link is via described The wherein another of two ear is fixed in two ends, and the stator fixed part is set to the first end and the second end Between portion, and the motor stator is fixed on the fixed link via the stator fixed part.

According to an embodiment, the wheel also includes one first wheel cap and one second wheel cap, and first wheel cap is affixed In the side of the rotor, second wheel cap is fixed in the other side of the rotor, first wheel cap and institute State the first end and institute that the second wheel cap is connected to the fixed link in a manner of it can rotate relative to the fixed link respectively The second end is stated, rotates the rotor with the wheel physical efficiency relative to the fixed link.

According to an embodiment, first wheel cap has a first bearing placement portion, and second wheel cap has one second Bearing placement portion, the wheel also include a first motor bearing and one second motor bearings, and the first motor bearing is set It is placed in the first bearing placement portion, the first end of the fixed link is arranged in the first motor bearing, makes described First wheel cap can be rotated via the first motor bearing relative to the fixed link, and second motor bearings is set to described Two bearing placement portions, the second end of the fixed link are arranged in second motor bearings, pass through second wheel cap It can be rotated relative to the fixed link by second motor bearings.

According to an embodiment, the wheel body has a rotor accommodating space, and the rotor accommodating space is along the wheel body Axially extending and respectively form wheel body opening at opposite two ends of the wheel body, the rotor is open via the wheel body pacifies Loaded in the rotor accommodating space, the wheel body separately has the fixed elongated slot of a plurality of rotors, the fixed length of a plurality of rotors Slot is set to the wall surface of the rotor accommodating space and extends to opposite two ends of the wheel body, and the rotor has plural number A first fixed part and a plurality of second fixed parts, every one first fixed part is installed on described a plurality of with every one second fixed part One of fixed elongated slot of rotor, to prevent the relatively described wheeling thereof of the rotor, first wheel cap forms multiple Several first wheel cap perforation, second wheel cap form a plurality of second wheel cap perforation, and the wheel also includes a plurality of first Screw and a plurality of second screws, every one first screw are locked via the corresponding first wheel cap perforation of first wheel cap In corresponding first fixed part of the rotor, every one second screw is via second wheel cap corresponding described second Wheel cap perforation is attached to corresponding second fixed part of the rotor.

According to an embodiment, the luggage case of driving certainly also includes a wheel sub-control unit, is coupled to the advance motor, Wherein the rotor have a stator accommodating space, the stator accommodating space along the rotor it is axially extending simultaneously A rotor openings are respectively formed at opposite two ends of the rotor, the motor stator and the wheel sub-control unit are via institute Rotor openings are stated to be installed in the stator accommodating space.

According to an embodiment, it is described from driving luggage case also include a central processing unit and a slip ring modules, it is described Slip ring modules include a slip ring fixing piece and a slip ring rotating member, and the slip ring fixing piece is coupled to the central processing list Member, the slip ring rotating member are pivotally electrically connected at the slip ring fixing piece, and the slip ring rotating member is coupled to The motor stator.

According to an embodiment, the slip ring fixing piece has a rotating member accommodating space, and the rotating member accommodating space exists One end of the slip ring fixing piece is formed with a fastener openings, and at least part of the slip ring rotating member is via the fixation Part opening is rotationally placed in the rotating member accommodating space.

According to an embodiment, the slip ring rotating member has a rod piece mounting hole, and the luggage case of driving certainly also includes One rod piece, is fixedly arranged on the pedestal, and the rod piece is arranged in the slip ring rotating member, the bottom via the rod piece mounting hole Seat, the rod piece can rotate simultaneously with the slip ring rotating member around the first axle.

According to an embodiment, the cabinet has a front, a back side, a top side, a bottom side, one first side and one the Two sides, the luggage case of driving certainly also includes that a bearing seat and a slip ring shell, the rod piece are arranged in the bearing seat, The slip ring shell includes a slip ring lower case and a slip ring upper casing to coat the slip ring modules, the slip ring shell Body, the slip ring lower case are fixedly arranged on the bearing seat, and the slip ring lower case is formed with a slip ring accommodating space, the cunning Ring accommodating space is formed with shell nozzle in one end of the slip ring lower case, and the slip ring fixing piece is via the lower casing Body opening is set in the slip ring accommodating space, and the slip ring upper housing is set to the end of the slip ring lower case and seals The lower case opening is closed, wherein the bearing seat, the slip ring lower case and the slip ring upper housing are fixed in the case It the bottom side of body and is not rotated with the rod piece around the first axle.

According to an embodiment, the luggage case of driving certainly also includes a bearing part and a holder, the bearing part installation In the rod piece, for the bearing part to assist the rod piece to rotate relative to the bearing seat, the holder is coupled to the bar One end of part, the holder is to assist the rod piece to rotate around the first axle.

According to an embodiment, it is described from driving luggage case also include a battery module and a touch-control shutdown switch, it is described Battery module is coupled to the central processing unit, and the battery module is to provide power supply to an at least actuator wheel mould Block, the touch-control shutdown switch are coupled to the central processing unit, and the central processing unit is in the touch-control shutdown switch The battery module is controlled when being triggered stops providing power supply to an at least actuator wheel module.

According to an embodiment, the luggage case of driving certainly also includes a pull rod module, the cabinet is installed on, wherein described Touch-control shutdown switch is installed in the pull rod module.

According to an embodiment, the cabinet has a front, a back side, a top side, a bottom side, one first side and one the Two sides, an at least actuator wheel module are installed on the bottom side, and the top side is opposite with the bottom side, first side Connect the top side and the bottom side, second side connect the top side and the bottom side and with the first side phase Right, the front is opposite with the back side and is separately connected the top side, the bottom side, by first side and described second Side is that a cabinet moves towards vector from second side towards first side and along the direction definition of cabinet trend, An at least actuator wheel module includes one first actuator wheel module and one second actuator wheel module, the first actuator wheel module It is adjacent to second side with the second actuator wheel module, the luggage case of driving certainly also includes one first driven wheel module And one second driven wheel module, the first driven wheel module are set to the bottom side and are adjacent to first side, institute It states the second driven wheel module to be set to the bottom side and be adjacent to first side, wherein the first actuator wheel module and institute The second actuator wheel module is stated to drive the cabinet in the ground moving, wherein the first actuator wheel module, described Two actuator wheel modules, the first driven wheel module and the second driven wheel module jointly by the case supports described On face, wherein the first actuator wheel module, the second actuator wheel module, the first driven wheel module with described second from Driving wheel module can be rotated relative to the cabinet around the first axle.

According to an embodiment, the cabinet has a front, a back side, a top side, a bottom side, one first side and one the Two sides, an at least actuator wheel module are installed on the bottom side, and the top side is opposite with the bottom side, first side Connect the top side and the bottom side, second side connect the top side and the bottom side and with the first side phase Right, the front is opposite with the back side and is separately connected the top side, the bottom side, by first side and described second Side is that a cabinet moves towards vector from second side towards first side and along the direction definition of cabinet trend, An at least actuator wheel module include one first actuator wheel module, one second actuator wheel module, a third actuator wheel module with And one the 4th actuator wheel module, the first actuator wheel module are adjacent to first side, the second actuator wheel module is adjacent It is connected to first side, the third actuator wheel module is adjacent to second side, and the 4th actuator wheel module is adjacent In second side, wherein the first actuator wheel module, the second actuator wheel module, the third actuator wheel module with The 4th actuator wheel module is to support and drive the cabinet in the ground moving, wherein the first actuating wheel model Block, the second actuator wheel module, the third actuator wheel module and the 4th actuator wheel module can the relatively described cabinets It is rotated around the first axle.

According to an embodiment, a kind of driving chassis certainly is also disclosed in the utility model, comprising a disk body and as described above An at least actuator wheel module, an at least actuator wheel module couples are in the disk body.

According to an embodiment, the utility model be also disclosed it is a kind of from driving chassis, comprising a disk body, a steering motor and An at least actuator wheel module, is coupled to the disk body, and each actuator wheel module includes a pedestal and a wheel, the pedestal tool Have a first axle and a second axis, the pedestal be coupled to the disk body and can the relatively described disk body around the first axle Rotation, the wheel are coupled to the pedestal and can rotate relative to the pedestal around the second axis, and the wheel includes one Wheel body and an advance motor, the wheel body are adapted for contact with a ground, and the advance motor is set to the wheel in vivo and includes One motor stator and a rotor, the motor stator are fixed in the pedestal, and the rotor is fixed in the wheel Body is simultaneously rotationally sheathed on the motor stator.Wherein the motor stator drives the electricity when reception one controls signal Machine rotor rotates and drives the wheel body, rolls the wheel physical efficiency on the ground.Wherein the steering motor is receiving When one steering signal, the pedestal is driven to rotate relative to the disk body around the first axle.The wherein steering motor selection Property be configured at an at least actuator wheel module, and the quantity of the advance motor in an at least actuator wheel module is greater than institute State the quantity of steering motor.

In conclusion the utility model all has power source (the i.e. more described actuating from driving luggage case and from driving chassis Take turns module), to generate the driving force for following user, therefore in mobile luggage case or from when driving chassis, people is needed without user Hand is mobile, once into using upper convenience.In addition, the utility model is taken the photograph from driving luggage case and from driving chassis to be all separately configured with Picture head module and/or range sensor (i.e. first sensor, second sensor, 3rd sensor and the 4th sensor), to To user image progress image procossing and following distance control, therefore the utility model drives chassis from driving luggage case and certainly In structure configuration and design, all have intelligentized basis, meet the trend of contemporary product, also can provide using further Usage experience.In relation to the utility model is aforementioned and other technology contents, feature and effect, attached drawing and reality are referred in following cooperation It applies in the detailed description of mode, can clearly present.

In addition it should be noted that, the actuator wheel that the utility model refers to is integrated among design of electrical motor, includes Double rotation axle The contents such as line, wheel position detecting module, motor and slip ring structure implementation detail, each wheel input current difference judgement are all by countless Innovation utility model after experiment and test, has detail content rather than only stays in the simple concept sexual stage, has really real Border commercialization ability.

Detailed description of the invention

Fig. 1 is appearance diagram of the utility model general embodiments from driving luggage case.

Fig. 2 is part perspective view of the explosion of the utility model general embodiments from driving luggage case.

Fig. 3 is the appearance diagram of the utility model first embodiment actuator wheel module.

Fig. 4 is the perspective view of the explosion of the utility model first embodiment actuator wheel module.

Fig. 5 A is the perspective view of the explosion of the utility model general embodiments wheel.

Fig. 5 B is perspective view of the explosion of the utility model general embodiments wheel at another visual angle.

Fig. 6 is the diagrammatic cross-section of the utility model first embodiment actuator wheel module.

Fig. 7 is function block schematic diagram of the utility model first embodiment from driving luggage case.

Fig. 8 is the schematic diagram that the utility model general embodiments follow user from driving luggage case.

Fig. 9 A is that the utility model first embodiment (two actuator wheels) driving luggage case follows the bottom of user to illustrate certainly Figure.

Fig. 9 B is that the utility model first embodiment (two actuator wheels) follows direction vector, the first round to vector and second Take turns the schematic diagram to vector.

Fig. 9 C is the signal graph of the utility model first embodiment (two actuator wheels) first current value and the second current value.

Figure 10 A is that the utility model first embodiment (four actuator wheels) driving luggage case follows the bottom of user to illustrate certainly Figure.

Figure 10 B is that the utility model first embodiment (four actuator wheels) follows direction vector, the first round to vector, second It takes turns to vector, third round to vector and fourth round to the schematic diagram of vector.

Figure 10 C is the utility model first embodiment (four actuator wheels) first current value, the second current value, third electric current The signal graph of value and the 4th current value.

Figure 11 A is that the utility model first embodiment (four actuator wheels) driving luggage case edge follows direction vector to move certainly Bottom schematic view.

Figure 11 B is that the utility model first embodiment (four actuator wheels) driving luggage case edge follows direction vector to move certainly And it is in the bottom schematic view of an emergency situations.

Figure 11 C is that the utility model first embodiment (four actuator wheels) driving luggage case edge follows direction vector to move certainly And it is in the bottom schematic view of another emergency situations.

Figure 12 A is that the first current value, the second current value, the third current value of state shown in Figure 11 A show with the 4th current value It is intended to.

Figure 12 B is that the first current value, the second current value, the third current value of state shown in Figure 11 B show with the 4th current value It is intended to.

Figure 12 C is that the first current value, the second current value, the third current value of state shown in Figure 11 C show with the 4th current value It is intended to.

Figure 13 is the appearance diagram of the utility model second embodiment actuator wheel module.

Figure 14 is the partial interior structural scheme of mechanism of the utility model second embodiment actuator wheel module.

Figure 15 is the perspective view of the explosion of the utility model second embodiment actuator wheel module.

Figure 16 is the diagrammatic cross-section of the utility model second embodiment actuator wheel module.

Figure 17 is function block schematic diagram of the utility model second embodiment from driving luggage case.

Figure 18 is schematic top plan view of the utility model general embodiments from driving luggage case.

Figure 19 A is the schematic diagram that the utility model general embodiments execute the second follow the mode from driving luggage case.

Figure 19 B for the institute of camera module shown in Figure 19 A pick-up image schematic diagram.

Figure 20 A is that the utility model general embodiments execute the second follow the mode from driving luggage case and are in a burst The schematic diagram of situation.

Figure 20 B for the institute of camera module shown in Figure 20 A pick-up image image schematic diagram.

Figure 20 C for the institute's pick-up image of camera module shown in Figure 20 A another time point image schematic diagram.

Figure 21 A to Figure 21 C is that the utility model second embodiment executes the second follow the mode from driving luggage case and keeps away The schematic diagram of barrier mode.

Wherein, the reference numerals are as follows:

1000,1001,1002,1003 luggage case is driven certainly

2000 cabinets

2001 fronts

2002 back sides

2003 first sides

The second side of 2003'

3000,3000' actuator wheel module

3001,3,005 first actuator wheel module

3001', 3001 " first driven wheel modules

3002,3,006 second actuator wheel module

3002', 3002 " second driven wheel modules

3003,3007 third actuator wheel module

3004,3008 the 4th actuator wheel module

4000 pull rod modules

7000 first follow sensing module

5000 camera modules

6001 first sensors

6002 second sensors

8000 second follow sensing module

8001 3rd sensors

8002 the 4th sensors

1 wheel

10 first wheel caps

101 first bearing placement portions

The perforation of 102 first wheel caps

11 second wheel caps

110 second bearing placement portions

The perforation of 111 second wheel caps

12 advance motors

120 rotors

122 first fixed parts

123 second fixed parts

124 stator accommodating spaces

125 rotor openings

121 motor stators

13 wheel bodys

130 rotor accommodating spaces

131 wheel bodys opening

132 rotors fix elongated slot

14 first screws

15 second screws

16 first motor bearings

17 second motor bearings

18 fixed links

180 first ends

181 the second ends

182 stator fixed parts

2 pedestals

20 ears

A1 first axle

Bis- axis of A2

3 slip ring modules

30 slip ring fixing pieces

301 rotating member accommodating space, 302 fastener openings

303 fixed ears

31 slip ring rotating members

310 rod piece mounting holes

311 rotating members opening

4 slip ring shells

40 slip ring upper housings

41 slip ring lower cases

410 slip ring accommodating spaces

411 lower cases opening

412 flange parts

5 bearing seats

50 protruding pinnas

6 steering motors

7 rod pieces

8 wheel position detecting modules

80 magnetic parts

81 orientation decoder modules

90 nuts

91 bearing parts

D central processing list

E takes turns sub-control unit

E0 Speed sensing unit

F accelerometer

G locating module

H portable device communication module

I portable device

J battery module

K power source design module

L inertia measurement unit

M touch-control shutdown switch

O barrier

T distance

U, U' user

UI, UI' user image

The visual field FOV

The first pane of IF1

The second pane of IF2

IF3 third pane

X1 first axis

X2 second is axial

Y1 cabinet moves towards vector

Y2 follows direction vector

Y3 direction of travel vector

The Z1 first round is to vector

Z2 second takes turns to vector

Z3 third round is to vector

Z4 fourth round is to vector

1 first angular displacement of α

2 second angular displacement of α

θ cabinet angular displacement

The first electric current of EC1

The second electric current of EC2

EC3 third electric current

The 4th electric current of EC4

Specific embodiment

The direction term being previously mentioned in following implementation, such as: upper and lower, left and right, front or rear etc. are only with reference to additional The direction of attached drawing.Therefore, the direction term used is intended to be illustrative and not intended to limit the utility model.Such as Fig. 1 and Fig. 2 institute Show, it includes a cabinet 2000, an actuator wheel module 3000, a pull rod that the utility model, which discloses a kind of driving luggage case 1000 certainly, Module 4000 and one first follow sensing module 7000, cabinet 2000 has a front 2001, a back side 2002, a top side 2004, a bottom side 2005, one first side 2003 and one second side 2003', actuator wheel module 3000 are mounted on bottom side 2005, top side 2004 and bottom side 2005 are opposite, and the first side 2003 connects top side 2004 and bottom side 2005, the second side 2003' It is with bottom side 2005 and opposite with the first side 2003 to connect top side 2004, front 2001 is opposite with the back side 2002 and is separately connected Top side 2004, bottom side 2005, the first side 2003 and the second side 2003'.First follows sensing module 7000 to be arranged in cabinet 2000 the first side 2003 is located at the object before the first side 2003 of cabinet 2000 to sense.

In the present embodiment, first sensing module 7000 is followed to include a camera module 5000, a first sensor 6001 and a second sensor 6002, but the utility model is not limited, such as first follows sensing module 7000 that can also only wrap Containing camera module 5000, hold depending on actual demand.Camera module 5000 can be used to capture an object shadow of the object Picture, first sensor 6001 can be used to sense a first distance value of the object opposite case 2000, second sensor 6002 It can be used to sense a second distance value of the object opposite case 2000.As shown in fig. 7, also including from driving luggage case 1000 One central processing unit D is coupled to camera module 5000, first sensor 6001 and second sensor 6002.In this implementation In mode, central processing unit D be can be a central processing unit (Central Processing Unit, CPU), but this is practical It is novel to be not limited, for example, central processing unit D be also possible to a graphics processor (Graphics Processing Unit, GPU), end is depending on actual demand.In addition, actuator wheel module 3000 is coupled to cabinet 2000, central processing unit D can be according to One follows the sensing result of sensing module 7000, and control 3000 drive case 2000 of actuator wheel module moves on a ground.? It include four actuator wheel modules 3000 from driving luggage case 1000, but the utility model is not limited in present embodiment, such as Also only include an actuator wheel module 3000 from driving luggage case 1000, i.e., includes an actuator wheel mould from driving luggage case 1000 The structure of block 3000, in the scope that the utility model is protected.

It is noted that from driving luggage case 1000 only the utility model actuator wheel module depicted in Fig. 1 and Fig. 2 A 3000 application implementation mode, and the application of the utility model actuator wheel module 3000 can be not limited to this, such as this is practical Novel actuator wheel module 3000 can also be applied to driving chassis (or automatic drive device) certainly, i.e., the described chassis of driving certainly is (certainly Driving device) the actuator wheel module 3000 comprising a disk body (ontology) and the utility model, wherein 3000 coupling of actuator wheel module It is connected to the disk body, and the detailed knot of actuator wheel module 3000 is said and action principle is as described below.

As shown in Figures 3 to 6, each actuator wheel module 3000 includes a wheel 1, a pedestal 2 and a slip ring modules 3, bottom Seat 2 have an a first axle A1 and second axis A2, pedestal 2 be coupled to cabinet 2000 and can opposite case 2000 around first Axis A1 rotation, wheel 1 are coupled to pedestal 2 and can rotate relative to pedestal 2 around second axis A2.In addition, pedestal 2 has two ears 20, second axis A2 run through two ears 20, and wheel 1 is between two ears 20.Further, wheel 1 includes a first round Lid 10, one second wheel cap 11, an advance motor 12, a wheel body 13, multiple first screws 14, multiple second screws 15, one first Motor bearings 16, one second motor bearings 17 and a fixed link 18.Wheel body 13 is adapted for contact with the ground, and advance motor 12 is set Set in wheel body 13 and include a rotor 120 and a motor stator 121, fixed link 18 have a first end 180, One the second end 181 and a stator fixed part 182, fixed link 18 by first end 180 be fixed on two ears 20 wherein it One, fixed link 18 is fixed on the wherein another of two ears 20 by the second end 181, and stator fixed part 182 is arranged in first end Between portion 180 and the second end 181, and motor stator 121 is fixed on fixed link 18 by stator fixed part 182.

In addition, the first wheel cap 10 has a first bearing placement portion 101, the second wheel cap 11 has a second bearing placement portion 110, first motor bearing 16 is arranged in first bearing placement portion 101, and the first end 180 of fixed link 18 is arranged in the first electricity Machine bearing 16 enables the first wheel cap 10 to rotate by first motor bearing 16 relative to fixed bar 18.The setting of second motor bearings 17 In second bearing placement portion 110, the second end 181 of fixed link 18 is arranged in the second motor bearings 17, keeps the second wheel cap 11 logical Crossing the second motor bearings 17 can rotate relative to fixed bar 18.Further, wheel body 13 has a rotor accommodating space 130, rotor Accommodating space 130 respectively forms wheel body opening 131 along the axially extending of wheel body 13 and at opposite two ends of wheel body 13.Wheel body 13 is also With the fixed elongated slot 132 of multiple rotors, wall surface and the extension of rotor accommodating space 130 is arranged in the fixed elongated slot 132 of multiple rotors To opposite two ends of wheel body 13, rotor 120 has multiple first fixed parts 122 and multiple second fixed parts 123, wherein Rotor 120 131 is mounted in rotor accommodating space 130 by wheel body opening, at this time every one first fixed part 122 with it is each Second fixed part 123 is mounted on one of fixed elongated slot 132 of multiple rotors, to prevent rotor 120 with respect to wheel body 13 Rotation.

In addition, rotor 120 has a stator accommodating space 124, stator accommodating space 124 is along rotor 120 It is axially extending and respectively form a rotor openings 125 at opposite two ends of rotor 120.It also include one from driving luggage case 1000 Sub-control unit E is taken turns, and takes turns sub-control unit E and is coupled to advance motor 12.In the present embodiment, wheel sub-control unit E can For a circuit board, the circuit board with central processing unit D to cooperate, to control the actuation of advance motor 12, for example (,) it is described Circuit board (i.e. wheel sub-control unit E) can cooperate with central processing unit D, to generate a control signal to advance motor 12 Motor stator 121, and motor stator 121 is when receiving the control signal, driving motor rotor 120 rotates and drives wheel body 13, so that wheel body 13 is rolled on the ground.In another embodiment, wheel sub-control unit E can be placed in cabinet In 2000 rather than among wheel 1.In another embodiment, wheel sub-control unit E can be integrated into one with central processing unit D IC chip SOC.

In addition, motor stator 121 and wheel sub-control unit E are mounted on stator accommodating space 124 by rotor openings 125 It is interior.First wheel cap 10 forms multiple first wheel cap perforation 102, and the second wheel cap 11 forms multiple second wheel cap perforation 111, wherein often One first screw 14 is attached to rotor 120 corresponding first by the corresponding first wheel cap perforation 102 of the first wheel cap 10 and consolidates Determine portion 122, the first wheel cap 10 is made to be fixed in the side of rotor 120, every one second screw 15 is corresponding by the second wheel cap 11 The perforation of the second wheel cap 111 be attached to corresponding second fixed part 123 of rotor 120, so that the second wheel cap 11 is fixed in motor The other side of rotor 120, and the first wheel cap 10 and the second wheel cap 11 are connected in a manner of it can rotate relative to fixed bar 18 respectively The first end 180 and the second end 181 of fixed link 18, enable rotor 120 and wheel body 13 to rotate relative to fixed bar 18.This Sample one, motor stator 121 can be fixed in pedestal 2, and rotor 120 can be fixed in wheel body 13 and rotationally be sheathed on Motor stator 121.

As shown in Figures 3 to 6, slip ring modules 3 include a slip ring fixing piece 30 and a slip ring rotating member 31, and slip ring is solid Determine part 30 and be coupled to central processing unit D, slip ring rotating member 31 is pivotally electrically connected at slip ring fixing piece 30, sliding Ring rotating member 31 is coupled to motor stator 121.Further, slip ring fixing piece 30 has a rotating member accommodating space 301, rotation Part accommodating space 301 is formed with a fastener openings 302 in one end of slip ring fixing piece 30, and a part of slip ring rotating member 31 is logical Fastener openings 302 are crossed rotationally to be placed in rotating member accommodating space 301.In addition, slip ring rotating member 31 has a rod piece Mounting hole 310, and it is also fixed comprising a slip ring shell 4, a bearing seat 5 and a rod piece 7, rod piece 7 from driving luggage case 1000 In pedestal 2, rod piece 7 is arranged in slip ring rotating member 31 by rod piece mounting hole 310, and rod piece 7 is arranged in bearing seat 5, wherein when Wheel 1 opposite case 2000 when being rotated around first axle A1, pedestal 2, rod piece 7 and slip ring rotating member 31 in the ground moving It can be rotated simultaneously around first axle A1.Slip ring shell 4 is to coat slip ring modules 3, to protect slip ring modules 3.

Further, slip ring shell 4 includes a slip ring upper housing 40 and a slip ring lower case 41, and slip ring lower case 41 is solid On bearing seat 5, slip ring lower case 41 is formed with a slip ring accommodating space 410, and slip ring accommodating space 410 is in slip ring lower case 41 one end is formed with shell nozzle 411, and slip ring fixing piece 30 is arranged by lower case opening 411 in slip ring accommodating space In 410.In the present embodiment, slip ring fixing piece 30 has a fixed ear 303, and fixed ear 303 is to be fixed in slip ring The bottom wall of accommodating space 410 is capable of fixing slip ring fixing piece 30 in the slip ring accommodating space 410 of slip ring lower case 41.It is sliding Ring upper housing 40 is arranged in the end of slip ring lower case 41 and closes lower case opening 411, wherein bearing seat 2, slip ring lower casing Body 41 and slip ring upper housing 40 are fixed in the bottom side 2005 of cabinet 2000, and when pedestal 2, rod piece 7 and slip ring rotating member 31 around When first axle A1 is rotated simultaneously, bearing seat 2, slip ring lower case 41 and slip ring upper housing 40 be not with pedestal 2, rod piece 7 and slip ring Rotating member 31 is rotated around the first axle.

As shown in Figure 3 and 4, bearing seat 5 has two protruding pinnas 50, and slip ring lower case 41 has two flanges portion 412, often One of one protruding pinna, 50 corresponding flange portion 412, protruding pinna 50 and flange part 412 are jointly by bearing seat 5 and slip ring lower casing Body 41 is fixed in the bottom side 2005 of cabinet 2000.In the present embodiment, on each protruding pinna 50 on each flange part 412 Be formed with a fixation hole, in assembling when, can by a screw (not being illustrated in figure) pass through protruding pinna 50 on described fixation hole with After the fixation hole on flange part 412, it is attached to the bottom side 2005 of cabinet 2000.It is above-mentioned to will be under bearing seat 5 and slip ring Shell 41 be fixed in the bottom side 2005 of cabinet 2000 structure be only the utility model an illustrated embodiment, and this is practical new Type is not limited.

As shown in Fig. 4 and Fig. 6, the rod piece mounting hole 310 of slip ring rotating member 31 is formed in one end of slip ring rotating member 31 There is rotating member opening 311, and takes turns the setting of position detecting module 8 also comprising a wheel position detecting module 8 from driving luggage case 1000 and exists It in slip ring accommodating space 410 and include that the one of rod piece 7 is arranged in a magnetic part 80 and an orientation decoding module 81, magnetic part 80 It holds and is located in the rod piece mounting hole 310 of slip ring rotating member 31, wherein when rod piece 7 is rotated around first axle A1, magnetic part 80 It can be rotated simultaneously with rod piece 7.Orientation decoder module 81 is fixedly arranged on slip ring upper housing 40, and orientation decoder module 81 is rotated by slip ring The 311 sensing magnetic parts 80 of rotating member opening of part 31, to detect wheel 1 in opposite case 2000 or with respect to the one of first axle A1 Take turns to.

As shown in Fig. 1 and Fig. 7, from drive luggage case 1000 also comprising a battery module J, a touch-control shutdown switch M with And a pull rod module 4000, pull rod module 4000 be mounted on cabinet 2000 and can opposite case 2000 stretch out or fold, battery Module J is coupled to central processing unit D, and battery module D makes actuator wheel module to provide power supply to actuator wheel module 3000 3000 can drive case 2000 moved on the ground, touch-control shutdown switch M is coupled to central processing unit D.Work as actuator wheel For 3000 drive case 2000 of module when moving on the ground, user can make battery module by triggering touch-control shutdown switch M J stops providing power supply to actuator wheel module 3000, i.e. central processing unit D can be controlled when touch-control shutdown switch M is triggered by user Battery module J processed stops providing power supply to actuator wheel module 3000, makes losing actuator wheel module from driving luggage case 1000 Can manually it be stopped after power source provided by 3000, to advance in response to emergency situations, such as from driving luggage case 1000 Path on there is child or pet to swarm into suddenly.In the present embodiment, touch-control shutdown switch M is mounted on pull rod module 4000 On, but the utility model is not limited, such as also mountable side (such as the front in cabinet 2000 touch-control shutdown switch M 2001) on or touch-control shutdown switch M is mounted on the side of pull rod module 4000 and cabinet 2000, end view actual demand Depending on.According further to above-mentioned electric machine structure, when being switched to manual mode, actuator wheel still can be according to first axle and the second axis Line, multi-direction freely manual control operation, without advance can not be continued to rotate because motor is locked.

As shown in fig. 7, can also be carried comprising a power source design module K, a locating module G, one from driving luggage case 1000 Formula device communication module H, an inertia measurement unit L, a Speed sensing unit E0 and an accelerometer F, power source design module K coupling It is connected to central processing unit D and battery module J, power source design module K can assist central processing unit D to distribute battery module J Mould is communicated to camera module 5000, first sensor 6001, second sensor 6002, locating module G and portable device Block H, wherein portable device communication module H can be used to establish with a portable device I online, make portable device I It can be carried out data exchange, such as setting, the switching of follow the mode of following distance etc. with from driving luggage case 1000, wherein can take Belt type apparatus communication module H may include a super broad band radio communication module (Ultra Wideband Wireless module, UWB), a radio frequency identification module (Radio Frequency Identification module, RFID), a bluetooth mould Block (Bluetooth module) and a wireless fidelity module (Wireless Fidelity module, Wi-Fi module). Wherein for locating module G to position from the position for driving luggage case 1000, locating module G may include a global positioning system (Global Position System, GPS), a wireless fidelity module (Wireless Fidelity module, Wi-Fi Module), bluetooth module (Bluetooth module) etc..Inertia measurement unit L is coupled to central processing unit D and can To sense moving direction of the cabinet 2000 in the ground moving, accelerometer F is coupled to central processing unit D and can be used To sense acceleration of the cabinet 2000 in the ground moving, therefore central processing unit D by inertia measurement unit L and adds Speedometer F can acquire moving direction of the cabinet 2000 in the ground moving and inertia force size.

As shown in figure 8, moved towards from the second side 2003' of cabinet 2000 towards the first side 2003 and along cabinet 2000 Direction definition is that a cabinet moves towards vector Y1 (or an ontology moves towards vector or a disk body moves towards vector), due to the utility model Follow sensing module 7000 configured with first from driving luggage case 1000, wherein first follows the sensing module 7000 to may include Camera module 5000, first sensor 6001 and second sensor 6002, therefore the driving luggage case certainly of the utility model 1000 central processing unit D can follow sensing module 7000 to the sensing knot of a user U (the i.e. described object) according to first Fruit, and described sensed to user U is captured one using image, first sensor 6001 according to camera module 5000 The second distance value that one distance value and second sensor 6002 are sensed differentiates a traveling direction vector Y3 of user U, together When calculate cabinet 2000 with respect to user U a position vector, and cabinet 2000 with respect to user U the position vector can define Direction vector Y2 is followed for one, wherein cabinet moves towards vector Y1, direction vector Y2 and direction of travel vector Y3 is followed to may respectively be One unit vector, i.e. cabinet, which move towards vector Y1, to be followed to indicate that from the move towards direction and size for driving luggage case 1000 be 1 It is 1 that direction vector Y2, which is to indicate to drive direction of advance and the size of luggage case 1000 certainly, and direction of travel vector Y3 is to use To indicate direction of advance and the size of user U for 1.

It is noted that the utility model can not also follow sensing module 7000 by first, only by central processing list First D decides a direction of advance vector in its sole discretion, wherein the direction of advance vector can specify for the one of cabinet 2000 (or the disk body) Direction, can for comprising make cabinet 2000 (or the disk body) advance either to, comprising cabinet move towards vector Y1, follow direction to Measure Y2 or direction of travel vector Y3 etc..

Further, due to actuator wheel module 3000 can opposite case 2000 around first axle A1 rotate, centre Reason cells D can control the rotation of actuator wheel module 3000 and make the trend (or take turns to) of actuator wheel module 3000 side of following in parallel To vector Y2.So, the utility model can opposite case by actuator wheel module 3000 from driving luggage case 1000 2000 mechanisms rotated around first axle A1 make to follow user U's to follow direction vector Y2 and cabinet from driving luggage case 1000 It moves towards that vector Y1 is identical, or makes from driving luggage case 1000 to follow user U's direction vector Y2 and cabinet is followed to move towards vector Y1 It is different, it holds depending on actual demand.

As shown in Fig. 9 A, Fig. 9 B and Fig. 9 C, in the present embodiment, activated from driving luggage case 1000 to include two Module 3000 is taken turns, is indicated respectively with one first actuator wheel module 3001 and one second actuator wheel module 3002, wherein the first actuating Wheel module 3001 and the second actuator wheel module 3002 are adjacent to the second side 2003', the i.e. drive to drive luggage case 1000 certainly For dynamic system, the utility model is a rear wheel drive system from the collocation actuator wheel module 3000 of luggage case 1000 is driven.In addition, It also include one first driven wheel module 3001' and one second driven wheel module 3002', the first driven wheel from driving luggage case 1000 Module 3001' and the second driven wheel module 3002' are arranged at the bottom side 2005 of cabinet 2000 and are adjacent to the first side 2003. It is noted that in the present embodiment, the first actuator wheel module 3001 and the second actuator wheel module 3002 are to driving box Body 2000 is in the ground moving, and the first driven wheel module 3001' and the second driven wheel module 3002' do not have power configuration, It is only to assist the first actuator wheel module 3001 and the second actuator wheel module 3002, to be jointly supported on cabinet 2000 describedly On face, wherein the first actuator wheel module 3001, the second actuator wheel module 3002, the first driven wheel module 3001' and second are driven Taking turns module 3002' can rotate relative to the cabinet 2000 around first axle A1.

In the present embodiment, central processing unit D is the first distance sensed according to first sensor 6001 The object image that the second distance value and camera module 5000 that value, second sensor 6002 are sensed are captured (i.e. the user image of user U), decision follows direction vector Y2, but the utility model is not limited, such as central processing The object image (i.e. the user image of user U) that cells D is also captured only on the basis of camera module 5000 determines Direction vector Y2 is followed, is held depending on actual demand.As shown in Fig. 7, Fig. 9 A and Fig. 9 B, the first actuator wheel module 3001 and second Actuator wheel module 3002 separately includes wheel position detecting module 8, and wheel position detecting module 8 is coupled to central processing unit D.Further Ground, as shown in Fig. 4 and Fig. 6, wheel position detecting module 8 includes magnetic part 80 and orientation decoding module 81, and wherein magnetic part 80 can be with Rod piece 7, pedestal 2 and wheel 1 rotate, and orientation decoder module 81 is not rotated with rod piece 7, pedestal 2 and wheel 1.Therefore, work as magnetism When part 80 is rotated with rod piece 7, pedestal 2 and wheel 1, it can relatively rotate between orientation decoding module 81 and magnetic part 80, the side of making Position decoder module 81 can sense the angular displacement of (or wheel 1) relative bearing of magnetic part 80 decoder module 81 (or cabinet 2000), from And first round of 3001 opposite case 2000 of (calculating) first actuator wheel module is detected to vector Z 1 and the second actuator wheel module The one second of 3002 opposite cases 2000 takes turns to vector Z 2, and it is respectively one that wherein the first round, which takes turns to vector Z 1 and second to vector Z 2, Unit vector.

In conclusion the opposite first round of the first actuator wheel module 3001 can be obtained to vector Z 1 by orientation decoder module 81 First angular displacement alpha 1 and the second actuator wheel module 3002 opposite second take turns one second angular displacement alpha 2 to vector Z 2, by the One follows sensing module 7000 that can obtain the opposite cabinet angular displacement for following direction vector Y2 of cabinet 2000, thus the first round to Component of the vector Z 1 in first axis X1 (i.e. X-axis) is cos α 1, and the first round is to vector Z 1 on the second axial direction X2 (i.e. Y-axis) Component be sin α 1；Second component taken turns to vector Z 2 in first axis X1 (i.e. X-axis) is cos α 2, and second takes turns to vector Component of the Z2 on the second axial direction X2 (i.e. Y-axis) is sin α 2；Follow point of the direction vector Y2 in first axis X1 (i.e. X-axis) Amount is cos θ, and following component of the direction vector Y2 on the second axial direction X2 (i.e. Y-axis) is sin θ.Further, from driving luggage The central processing unit D of case 1000 can calculate cabinet 2000 by inertia measurement unit L and accelerometer F and follow direction vector Inertia force size (i.e. force ρ of the cabinet 2000 in a known direction) on Y2.In one embodiment, force ρ It can be determined according to the weight that cabinet loads.Therefore, cabinet 2000 to be made along follow direction vector Y2 advance, the first actuator wheel Driving force f2 needed for driving force f1 needed for module 3001 and the second actuator wheel module 3002, meets following equation:

F1*cos α 1+f2*cos α 2=λ 1* ρ * cos θ --- -- (1-1)

F1*sin α 1+f2*sin α 2=λ 1* ρ * sin θ ----(1-2)

According to formula (1-1) and formula (1-2), driving force f1 needed for the first actuator wheel module 3001 can be acquired and Driving force f2 needed for two actuator wheel modules 3002, and then the first actuator wheel module 3001 can must be made to obtain driving force f1 institute The one first electric current EC1 that need to input and the second actuator wheel module 3002 is made to obtain the one second of driving force f2 required input Electric current EC2 (as shown in Figure 9 C), to make cabinet 2000 along following direction vector Y2 to advance, wherein λ 1 is an empirical.

It as shown in Figure 10 A, include one first actuator wheel module 3001, one second actuator wheel module from driving luggage case 1001 3002, a third actuator wheel module 3003 and one the 4th actuator wheel module 3004, the first actuator wheel module 3001 and second cause Driving wheel module 3002 is adjacent to the first side 2003, and third actuator wheel module 3003 is adjacent to the 4th actuator wheel module 3004 Second side 2003', the first actuator wheel module 3001, the second actuator wheel module 3002, third actuator wheel module 3003 and the 4th To support and drive case 2000 is in the ground moving, the first actuator wheel module 3001, second causes actuator wheel module 3004 Driving wheel module 3002, third actuator wheel module 3003 and the 4th actuator wheel module 3004 can opposite case 2000 around first axle A1 rotation.

As shown in Figure 10 B, it for the first actuator wheel module 3001 and the second actuator wheel module 3002, is decoded by orientation Module 81 can obtain first angular displacement alpha 1 and second actuating wheel model of the opposite first round of the first actuator wheel module 3001 to vector Z 1 Block 3002 opposite second takes turns one second angular displacement alpha 2 to vector Z 2, follows sensing module 7000 that can obtain cabinet 2000 by first The opposite cabinet angular displacement for following direction vector Y2, therefore point of the first round to vector Z 1 in first axis X1 (i.e. X-axis) Amount is cos α 1, the first round to component of the vector Z 1 on the second axial direction X2 (i.e. Y-axis) be sin α 1；Second takes turns to vector Z 2 and exists Component on first axis X1 (i.e. X-axis) is cos α 2, and second takes turns and be to component of the vector Z 2 on the second axial direction X2 (i.e. Y-axis) sinα2；Following component of the direction vector Y2 on first axis X1 (i.e. X axis) is cos θ, follows direction vector Y2 in the second axis Component in X2 (i.e. Y-axis) is sin θ.Further, pass through the moment of inertia from the central processing unit D of driving luggage case 1000 Survey unit L and accelerometer F can calculate cabinet 2000, and following the inertia force size on direction vector Y2, (i.e. cabinet 2000 exists Force ρ in one known direction).In one embodiment, force ρ can be determined according to the weight that cabinet loads.

As shown in Figure 10 B, it for third actuator wheel module 3003 and the 4th actuator wheel module 3004, is decoded by orientation Module 81 can obtain third actuator wheel module 3003 and activate wheel model to the third angular displacement alpha 3 of vector Z 3 and the 4th with respect to third round Block 3004 is displaced α 4 to a fourth angle of vector Z 4 with respect to fourth round, follows sensing module 7000 that can obtain cabinet 2000 by first The opposite cabinet angular displacement for following direction vector Y2, therefore point of the third round to vector Z 3 in first axis X1 (i.e. X-axis) Amount is cos α 3, third round to component of the vector Z 3 on the second axial direction X2 (i.e. Y-axis) be sin α 3；Fourth round exists to vector Z 4 Component on first axis X1 (i.e. X-axis) is cos α 4, and fourth round is to component of the vector Z 4 on the second axial direction X2 (i.e. Y-axis) sinα4；Following component of the direction vector Y2 on first axis X1 (i.e. X axis) is cos θ, follows direction vector Y2 in the second axis Component in X2 (i.e. Y-axis) is sin θ.Further, pass through the moment of inertia from the central processing unit D of driving luggage case 1000 Survey unit L and accelerometer F can calculate cabinet 2000, and following the inertia force size on direction vector Y2, (i.e. cabinet 2000 exists Force ρ in one known direction).In one embodiment, force ρ can be determined according to the weight that cabinet loads.Cause This, along following direction vector Y2 to advance, driving force f1 needed for the first actuator wheel module 3001, second activate cabinet 2000 to be made Driving force f3 needed for driving force f2, third actuator wheel module 3003 needed for taking turns module 3002 and the 4th actuator wheel module Driving force f4 needed for 3004, meets following equation:

Σ fi*cos α i=λ 2* ρ * cos θ --- -- (2-1)

Σ fi*sin α i=λ 2* ρ * sin θ ----(2-2)

According to formula (2-1) and formula (2-2), driving force f1-f4 needed for actuator wheel module can be acquired, and then can must be intended to Make actuator wheel module obtain driving force required input first, second, third and fourth electric current EC1~EC4, thus make cabinet 2000 along with It advances with direction vector Y2, wherein λ 2 is an empirical.Wherein, it can be given according to calculating demand when implementing this mode certain Wheel drive force preset value is activated, is calculated with facilitating.According further to Figure 10 A~Figure 10 C it is found that the actuator wheel module of the utility model A feature is: deviation follows the actuator wheel module of direction vector Y2 the more, and input current is smaller；For example, due to figure Second of the second actuator wheel module 3002 in 10A takes turns to vector Z 2 and follows direction vector compared to the deviation of other actuator wheel modules Y2 is more, therefore the second electric current EC2 for inputting the second actuator wheel module 3002 is smaller.

In other words, one of emphasis of the utility model first embodiment (Fig. 3,4,6,7,9-12) is: not using Motor or other elements control each wheel direction, thus when the situation for encountering out-of-flatness when advancing from driving luggage case 1001 or its His factor cause wheel to change when, carried out using the above-mentioned calculation of the utility model based on can dual-axis rotation wheel speed difference Whole method of advance based on control, the method comprise the steps of:

Step S100: central processing unit D calculating the first round to vector Z 1 with follow direction vector Y2 one first difference, Second takes turns to vector Z 2 and follows one second difference of direction vector Y2, third round to vector Z 3 and follow the one of direction vector Y2 Third difference and fourth round are to vector Z 4 and one the 4th difference for following direction vector Y2；

Step S102: central processing unit D judges first difference, second difference, the third difference and institute State whether one of the 4th difference is greater than a threshold value? if so, executing step S104；If it is not, returning to step S106；

Step S104: corresponding first difference, second difference, the third difference and the 4th difference are reduced One of electric current.

As shown in Figure 11 A and Figure 12 A, when from driving luggage case 1001 the ground advance when, central processing unit D The first actuator wheel is supplied respectively with the first equivalent electric current EC1, the second electric current EC2, third electric current EC3 and the 4th electric current EC4 Module 3001, the second actuator wheel module 3002, third actuator wheel module 3003 and the 4th actuator wheel module 3004, it is central at this time Processing unit D calculate the first round to vector Z 1 with follow one first difference of direction vector Y2, second take turns to vector Z 2 with follow One second difference of direction vector Y2, third round to vector Z 3 and the third difference and fourth round that follow direction vector Y2 to Vector Z 4 and one the 4th difference for following direction vector Y2.As shown in Figure 11 B and Figure 12 B and Figure 11 C and Figure 12 C, when certainly When driving luggage case 1001 encounters the situation of the ground out-of-flatness, such as the second actuator wheel module of luggage case 1001 is driven certainly 3002 pass through pothole or convex stone when, the second of the second actuator wheel module 3002, which is taken turns to vector Z 2, substantially to be changed, at this time second The threshold value can be greater than with second difference of direction vector Y2 is followed by taking turns to vector Z 2, when central processing unit D judges Second difference is greater than the threshold value, and central processing unit D reduces the second electric current EC2, to reduce the second actuator wheel module 3002 driving force f2, make the first actuator wheel module 3001, third actuator wheel module 3003 and the 4th actuator wheel module 3004 at For main power plant module, to carry out correction for direction to the second actuator wheel module 3002, until the second actuator wheel module 3002 is returned to Until central processing unit D judges that second difference is greater than the threshold value.Wherein, above-mentioned threshold value is in embodiment A kind of form, is in addition subject to another form being calculated as in embodiment in real time of formula (2-1) and formula (2-2).

Wherein, either above-mentioned any form, central processing unit D to calculate follow direction vector Y2 (or advance Direction vector) and first difference from the first round to vector Z 1, calculate follow direction vector Y2 (or the direction of advance to Amount) with second second difference to vector Z 2 taken turns, calculate and follow direction vector Y2 (or described direction of advance vector) and the The third difference from three-wheel to vector Z 3, and calculate follow direction vector Y2 (or described direction of advance vector) and fourth round to The 4th difference of vector Z 4, wherein central processing unit D is provided to the first actuator wheel module 3001, the second actuator wheel respectively Module 3002, the first current value EC1 of third actuator wheel module 3003 and the 4th actuator wheel module 3004, the second current value EC2, Third current value EC3 and the 4th current value of EC4, with first difference, second difference, the third difference and described the Four differences are inversely proportional.Using it is above-mentioned based on can whole method of advance based on the speed difference control of dual-axis rotation wheel, may make this The actuator wheel module of utility model controls its direction without using steering motor, can but make whole luggage case or chassis towards spy Determine direction advance, hence it is evident that be different from it is previous using fast pulley (i.e. fixed-direction wheel) or it is non-can dual-axis rotation wheel wheel speed controlling party Method.

As shown in Figure 13 to Figure 17, the utility model second embodiment discloses a kind of actuator wheel module 3000', actuating Wheel module 3000' and the main difference of the actuator wheel module 3000 of above-mentioned first embodiment are that actuator wheel module 3000' is also Comprising a steering motor 6, the steering motor 6 is coupled to one end and the pedestal 2 of rod piece 7, wherein the steering motor 6 is connecing When receiving a turn signal, driving 2 opposite case 2000 of pedestal is rotated around first axle A1.In other words, above-mentioned actuating wheel model Block 3000 is to utilize the first electric current EC1 for being provided to the first actuator wheel module 3001 and the second actuator wheel module 3002 respectively and the The combination of two electric current EC2 and/or the third electricity for being provided to third actuator wheel module 3003 and third actuator wheel module 3003 respectively The combination of EC3 and the 4th electric current EC4 are flowed, 3000 drive case 2000 of actuator wheel module is controlled and (such as is followed along a specific direction Direction vector Y2) it is mobile, and actuator wheel module 3000' is using the steering motor 6, by the wheel of each actuator wheel module 3000' It is gone to vector with the specific direction (such as following direction vector Y2) in the same direction, enables actuator wheel module 3000' drive case 2000 is mobile along the specific direction (such as following direction vector Y2).In addition, actuator wheel module 3000' also includes a nut 90 With a bearing part 91, bearing part 91 is mounted on rod piece 7, and bearing part 91 is rotated to auxiliary bar 7 relative to bearing seat 5.

It is noted that the utility model can not also follow sensing module 7000 by first, only by central processing list First D decides a direction of advance vector in its sole discretion, wherein the direction of advance vector can specify for the one of cabinet 2000 (or the disk body) Direction, can for comprising make cabinet 2000 (or the disk body) advance either to, comprising cabinet move towards vector Y1, follow direction to Measure Y2 or direction of travel vector Y3 etc..In addition, in the present embodiment, each actuator wheel module 3000' is each equipped with steering electricity Machine 6, but the utility model is not limited.For example, steering motor 6 is also optionally configured at the actuator wheel module of part 3000', namely in another embodiment, a part of actuator wheel module 3000' is configured with steering motor 6, another part Actuator wheel module 3000' has no the configuration of steering motor 6, and those actuator wheel modules 3000' all has power source, i.e., those Actuator wheel module 3000' all has advance motor 12.Preferably, the actuator wheel module 3000' with steering motor 6 is arranged in The part of front-wheel, and the part of rear-wheel is arranged in without the actuator wheel module 3000' that steering motor 6 configures.In another embodiment party In formula, the quantity of the advance motor 12 of the actuator wheel module 3000' is greater than the quantity of steering motor 6.

In conclusion second embodiment directly controls the direction of actuator wheel module using steering motor, it is different from first Embodiment by based on can whole method of advance based on the speed difference control of dual-axis rotation wheel, the two can control row well Lee's case or the direction of travel on chassis.Wherein aforementioned two embodiment, which can mix, is used in combination, such as the three-wheel in four-wheel uses first Actuator wheel module 3000 (have advance motor and without steering motor) in embodiment, in addition a wheel uses second embodiment In actuator wheel module 3000'(have advance motor and steering motor) directly control the direction of actuator wheel module；Or four-wheel Middle two-wheeled is using actuator wheel module 3000 (have advance motor and without steering motor), and in addition two-wheeled uses actuator wheel module 3000' directly controls the direction of actuator wheel module using steering motor, those skilled in the art can self assemble application and it is not subject to the limits.

In addition, in another embodiment, actuator wheel module 3000 " and have steering motor and without advance motor, it is aforementioned Actuator wheel module 3000 " can be with actuator wheel module 3000 (having advance motor and without steering motor) and actuator wheel module 3000'(has advance motor and steering motor) mixing is used in combination, such as the three-wheel in four-wheel uses the cause in first embodiment Driving wheel module 3000 (have advance motor and without steering motor), in addition a wheel (only has steering using actuator wheel module 3000 " Motor and without advance motor) directly control the direction of actuator wheel module；Or two-wheeled uses actuator wheel module 3000 in four-wheel, separately Outer two-wheeled directly controls the direction of actuator wheel module using actuator wheel module 3000 " using steering motor；Or two-wheeled in four-wheel Have advance motor and steering motor using actuator wheel module 3000'(), in addition two-wheeled (is only had using actuator wheel module 3000 " Standby steering motor), those skilled in the art can self assemble application and it is not subject to the limits.In addition aforementioned citing also can be applicable to three-wheel or more Complex wheel group in, however it is not limited to four-wheel wheel group.

As shown in figure 18, sensing module 7000 is followed comprising one first from driving luggage case 1001, first follows sensing mould Block 7000 is arranged in the first side 2003 of cabinet 2000 and is located at the institute before the first side 2003 of cabinet 2000 to sense Object is stated, wherein central processing unit D follows sensing module 7000 to the sensing result of the object, control first according to first Actuator wheel module 3001, the second actuator wheel module 3002, third actuator wheel module 3003 and the 4th actuator wheel module 3004 are opposite Cabinet 2000 is rotated around first axle A1, makes the first actuator wheel module 3001, the second actuator wheel module 3002, third actuator wheel Module 3003 and the 4th actuator wheel module 3004 can drive case 2000 along following direction vector Y2 to follow positioned at cabinet 2000 The object (user U) before first side 2003, to execute one first follow the mode.Due to the first actuator wheel module 3001, Second actuator wheel module 3002, third actuator wheel module 3003 and the 4th actuator wheel module 3004 can opposite case 2000 around the One axis A1 rotation, therefore when central processing unit D executes first follow the mode, follow direction vector Y2 to be identical to case Body moves towards vector Y1, or follows direction vector Y2 to be different from cabinet and move towards vector Y1.

In the present embodiment, first sensing module 7000 is followed to include camera module 5000, first sensor 6001 And second sensor 6002, camera module 5000 can be to capture an object image of the object, first sensor 6001 can be to sense the first distance value of the object opposite case 2000, and second sensor 6002 can be to sense The second distance value of object opposite case 2000 is stated, wherein the central processing unit carries out image to the object image Processing, with determine the cabinet and the object relative bearing or central processing unit D according to the object image, institute First distance value and the second distance value are stated, the relative bearing of cabinet 2000 and the object is calculated.

As shown in figure 18, sensing module 8000 also is followed comprising one second from driving luggage case 1001, second follows sensing Module 8000 is arranged in the back side 2002 of cabinet 2000 and is located at described in the one side at the back side 2002 of cabinet 2000 to sense Object, wherein central processing unit D follows sensing module 8000 to the sensing result of the object, control first according to second Actuator wheel module 3001, the second actuator wheel module 3002, third actuator wheel module 3003 and the 4th actuator wheel module 3004 are opposite Cabinet 2000 is rotated around first axle A1, makes the first actuator wheel module 3001, the second actuator wheel module 3002, third actuating wheel model Block 3003 and the 4th actuator wheel module 3004 can drive case 2000 along following direction vector Y2 to follow the back positioned at cabinet 2000 The object of the one side in face 2002, to execute one second follow the mode.

As shown in Figure 19 A, in the present embodiment, second to follow sensing module 8000 may include a 3rd sensor 8001 And one the 4th sensor 8002, when user U (the i.e. described object) is located at the one side at the back side 2002 of cabinet 2000, third Sensor 8001 can be to sense a third distance value of user U (the i.e. described object) opposite case 2000, and the 4th sensor 8002 can be to sense one the 4th distance value of user U (the i.e. described object) opposite case 2000, wherein the central processing list Member calculates one between cabinet 2000 and user U (the i.e. described object) according to the third distance value and/or the 4th distance value Distance T, and central processing unit D can be sensed when executing second follow the mode by 3rd sensor 8001 and the 4th Device 8002, the first actuator wheel module 3001 of control, the second actuator wheel module 3002, third actuator wheel module 3003 and the 4th actuating Wheel module 3004 will remain distance T at a distance between cabinet 2000 and user U (the i.e. described object).Wherein, 3rd sensor 8001 and the 4th sensor 8002 can be all camera, i.e., second to follow sensing module 8000 may include two cameras, thoroughly Cross the distance value that binocular vision algorithm obtains sensing user U opposite case 2000.It is noted that due to driving luggage certainly Case 1001 is furnished with portable device communication module H, and portable device communication module H with portable device I to build Vertical communication, user U can pass through the value of portable device I set distance T on demand whereby.

In addition, the utility model second follows the type of sensing module 8000 that can be not limited to described in above embodiment, For example, as shown in Figure 19 A and Figure 19 B, second follows sensing module 8000 can also be for a camera module, the camera shooting Head module (i.e. second follows sensing module 8000) can be used to a user image UI of extract user U, and camera module 5000 With a visual field FOV, central processing unit D can execute described the according to relative position of the user image UI in the FOV of the visual field Two follow the mode.For example, central processing unit D can be divided into three windows according to the image that camera module 5000 is captured Lattice, i.e. one first pane IF1, one second pane IF2 and a third pane IF3, wherein the second pane IF2 is in the first pane Between IF1 and third pane IF3, the user image UI that central processing unit D can be captured according to camera module 5000 is fallen in That pane, to control the first actuator wheel module 3001, the second actuator wheel module 3002, third actuator wheel module 3003 and the 4th Actuator wheel module 3004 is to 2000 acceleration or deceleration of cabinet.

For example, when the user image UI that camera module 5000 is captured falls in the first pane IF1, centre It manages cells D and controls the first actuator wheel module 3001, the second actuator wheel module 3002, third actuator wheel module 3003 and the 4th actuating It takes turns module 3004 to slow down to cabinet 2000, so that user U can be caught up with from driving luggage case 1001；When camera module 5000 is picked When the user image UI taken falls in third pane IF3, central processing unit D controls the actuating of the first actuator wheel module 3001, second It takes turns module 3002, third actuator wheel module 3003 and the 4th actuator wheel module 3004 to accelerate cabinet 2000, to go from driving Lee's case 1001 can catch up with user U；When the user image UI that camera module 5000 is captured falls in the second pane IF2, center Processing unit D controls the first actuator wheel module 3001, the second actuator wheel module 3002, third actuator wheel module 3003 and the 4th Actuator wheel module 3004 maintains former speed to cabinet 2000, so as to can walk abreast from driving luggage case 1001 with user U.In other words It says, user is maintained in sensing range by the image that central processing unit D follows sensing module 8000 to be captured according to second In one presumptive area (for this example, i.e. the second pane IF2), when user exceeds the presumptive area, then actuator wheel module adds Speed or deceleration are held in cabinet 2000 in the presumptive area.When can thus guarantee to execute the second follow the mode, case Body 2000 will not be too forward or too rearward, is able to maintain in a side following distance appropriate.In addition the width of this presumptive area It can be set through portable device.

As shown in Figure 20 A, Figure 20 B and Figure 20 C, when central processing unit D executes second follow the mode and another use Family U' be faster than by rear user U travel speed it is close when, at this time central processing unit D can using image procossing differentiate user The travel speed of U' is faster than the travel speed of user U, and then can identify that user U is actively to follow object by speed difference.Whereby, When user U' catches up with user U, the user image UI' of the user image UI and user U' of user U can generate overlapping (such as Figure 20 C It is shown), since central processing unit D identifies that user U is actively to follow object according to the speed difference between two user images, because And it can avoid generating with the situation of wrong people in these cases from driving luggage case 1001.That is, central processing unit D root The velocity of displacement for the material computation user U for following sensing module 8000 to provide according to second, when user U and described second follows sensing When there is shelter between module 8000, central processing unit D controls an at least actuator wheel module with the user U's of precedence record Velocity of displacement is advanced.It should be noted that user U or user U' described herein can not be people but any object followed Body, this place explanation be only signal and it is non-limiting.

As shown in Figure 21 A, Figure 21 B and Figure 21 C, when central processing unit D executes second follow the mode and when first When the sensing of sensing module 7000 being followed to have a barrier O before the first side 2003 of cabinet 2000, central processing unit D is first Second follow the mode is switched to first follow the mode, is made from driving luggage case 1001 by position as illustrated in fig. 21 Set around the position proceeded to as illustrated in fig. 21b, then central processing unit D again by described in the first follow the mode switchback second with With mode, make from driving luggage case 1001 by position as illustrated in fig. 21b around the position proceeded to as shown in fig. 21 c, so, From driving luggage case 1001 just can avoiding obstacles O, and can prevent from drive luggage case 1001 avoiding obstacles O process In, it remains to effectively follow user U.In one embodiment, since the driving luggage case 1001 around proceeding to position as shown in fig. 21 c The opportunity judgment basis set is: first follow sensing module 7000 to be returned data judgement from driving luggage case 1001 around Cross the barrier.In another embodiment, after a preset time or a default travel distance, from driving luggage First follow the mode is switched back into second follow the mode by case 1001.Switching between two follow the mode of the utility model When, it follows direction vector Y2 that can be different from cabinet and moves towards vector Y1.It is noted that due to the unique cause of the utility model Driving wheel module design, so that higher (all actuator wheel modules can be based on first axle A1 and second with freedom degree at any time Axis A2 is rotated freely, and no matter is powered off rear or non-off-position) so that the actuator wheel than is limited with effect at any time The design of system is more smoothly flexibly.

In another embodiment, first follow sensing module 7000 and second that sensing module 8000 is followed to can be What the same range sensor (such as laser radar range sensor) was realized follows sensing module, and sensing module is followed to be arranged In the angle at the back side 2002 and the first side 2003 from driving luggage case 1001, to sense the back side for being located at cabinet 2000 Object before the object of 2002 one side or the first side 2003.This integration after range sensor be placed in the back side 2002 and The angle of first side 2003, thus can be obtained with lower cost good side follow (the second follow the mode) and Rear follows the effect of (the first follow the mode).

It should be strongly noted that content and its diagram schematically described above all can be applicable to the self-powered except luggage case On dynamic device, such as has and the supermarket of sensing module is followed to drive the devices such as shopping cart or remote-controlled robot certainly.This place is only Illustrate rather than limits.

Compared to the prior art, the utility model all has power source (i.e. described from driving luggage case and from driving chassis A little actuator wheel modules), to generate the driving force for following user, therefore in mobile luggage case or from when driving chassis, it is not necessarily to use Family needs manpower mobile, once into using upper convenience.In addition, the utility model is all separately matched from driving luggage case and from driving chassis It is equipped with camera module and/or range sensor (i.e. first sensor, second sensor, 3rd sensor and the 4th sensing Device), to carry out image procossing and following distance control to user image, therefore the utility model drives luggage case and self-powered certainly In the structure configuration and design on dynamic chassis, all has intelligentized basis, meet the trend of contemporary product, also can provide makes With further usage experience.

In addition compared to current existing Intelligent luggage carrier concept, the integration that the utility model first embodiment proposes is advanced Motor, slip ring and wheel position detecting module can dual-axis rotation wheel, and based on can dual-axis rotation wheel speed difference control based on In integration advance motor, slip ring and steering motor that whole method of advance and the utility model second embodiment propose etc. Hold, is all the innovative technology after countless experiments and test, is more provided simultaneously with rigorous research and structure implementation detail.

The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.

Claims (17)

1. it is a kind of from driving luggage case, characterized by comprising:

One cabinet；And

An at least actuator wheel module is coupled to the cabinet, and each actuator wheel module includes:

One pedestal, has a first axle and a second axis, and the pedestal is coupled to the cabinet and can the relatively described cabinet It is rotated around the first axle；And

One wheel is coupled to the pedestal and can rotate relative to the pedestal around the second axis,

The wheel includes:

One wheel body is adapted for contact with a ground；And

One advance motor is set to the wheel in vivo, and the advance motor includes:

One motor stator is fixed in the pedestal；And

One rotor is fixed in the wheel body and is rotationally sheathed on the motor stator；And

One steering motor is coupled to the pedestal；

Wherein the motor stator drives the rotor to rotate and drive the wheel body, makes when reception one controls signal The wheel physical efficiency rolls on the ground；

Wherein the steering motor drives the relatively described cabinet of the pedestal around the first axle when reception one turns to signal Rotation.

2. as described in claim 1 from driving luggage case, which is characterized in that the pedestal has two ears, second axis Line runs through two ear, and between two ear, the wheel also includes the wheel:

One fixed link has a first end, a second end and a stator fixed part, and the fixed link is via the first end One of described two ear is fixed in portion, and the fixed link is fixed on two ear wherein via the second end Another, the stator fixed part is set between the first end and the second end, and the motor stator is via institute It states stator fixed part and is fixed on the fixed link.

3. as claimed in claim 2 from driving luggage case, which is characterized in that the wheel also includes:

One first wheel cap, is fixed in the side of the rotor；And

One second wheel cap, is fixed in the other side of the rotor, and first wheel cap and second wheel cap are respectively with can It is connected to the first end and the second end of the fixed link relative to the mode of fixed link rotation, makes the electricity Machine rotor is rotated with the wheel physical efficiency relative to the fixed link.

4. as claimed in claim 3 from driving luggage case, which is characterized in that first wheel cap is disposed with a first bearing Portion, second wheel cap have a second bearing placement portion, and the wheel also includes:

One first motor bearing, is set to the first bearing placement portion, and the first end of the fixed link is arranged in institute First motor bearing is stated, first wheel cap is enable to rotate via the first motor bearing relative to the fixed link；And

One second motor bearings, is set to the second bearing placement portion, and the second end of the fixed link is arranged in institute The second motor bearings is stated, second wheel cap is enable to rotate via second motor bearings relative to the fixed link.

5. as claimed in claim 3 from driving luggage case, which is characterized in that the wheel body has a rotor accommodating space, institute It states rotor accommodating space and respectively forms wheel body opening along the axially extending of the wheel body and at opposite two ends of the wheel body, it is described Rotor is installed in the rotor accommodating space via wheel body opening, and separately there are the wheel body a plurality of rotors to fix Elongated slot, the fixed elongated slot of a plurality of rotors are set to the wall surface of the rotor accommodating space and extend to the opposite of the wheel body Two ends, the rotor have a plurality of first fixed parts and a plurality of second fixed parts, every one first fixed part with it is each Second fixed part is installed on one of fixed elongated slot of a plurality of rotors, to prevent the relatively described wheel of the rotor Body rotation, first wheel cap form a plurality of first wheel cap perforation, and second wheel cap forms a plurality of second wheel cap perforation, The wheel also includes:

A plurality of first screws, every one first screw are attached to institute via the corresponding first wheel cap perforation of first wheel cap State corresponding first fixed part of rotor；And

A plurality of second screws, every one second screw are attached to institute via the corresponding second wheel cap perforation of second wheel cap State corresponding second fixed part of rotor.

6. as described in claim 1 from driving luggage case, which is characterized in that also include:

One wheel sub-control unit, is coupled to the advance motor, wherein the rotor has a stator accommodating space, it is described Stator accommodating space is along the axially extending of the rotor and respectively forms a rotor at opposite two ends of the rotor and opens Mouthful, the motor stator and the wheel sub-control unit are installed in the stator accommodating space via the rotor openings.

7. as described in claim 1 from driving luggage case, which is characterized in that also include:

One central processing unit；And

One slip ring modules include:

One slip ring fixing piece, is coupled to the central processing unit；And

One slip ring rotating member, is pivotally electrically connected at the slip ring fixing piece, and the slip ring rotating member is coupled to The motor stator.

8. as claimed in claim 7 from driving luggage case, which is characterized in that the slip ring fixing piece is accommodated with a rotating member Space, the rotating member accommodating space are formed with a fastener openings, the slip ring rotation in one end of the slip ring fixing piece At least part of part is rotationally placed in the rotating member accommodating space via the fastener openings.

9. as claimed in claim 7 from driving luggage case, which is characterized in that the slip ring rotating member is installed with a rod piece Hole, and the luggage case of driving certainly also includes:

One rod piece is fixedly arranged on the pedestal, and the rod piece is arranged in the slip ring rotating member via the rod piece mounting hole, described Pedestal, the rod piece and the slip ring rotating member can rotate simultaneously around the first axle.

10. as claimed in claim 9 from driving luggage case, which is characterized in that the cabinet has a front, a back side, one Top side, a bottom side, one first side and one second side, described also to include from driving luggage case:

One bearing seat, wherein the rod piece is arranged in the bearing seat；And

One slip ring shell, to coat the slip ring modules, the slip ring shell includes:

One slip ring lower case, is fixedly arranged on the bearing seat, and the slip ring lower case is formed with a slip ring accommodating space, the cunning Ring accommodating space is formed with shell nozzle in one end of the slip ring lower case, and the slip ring fixing piece is via the lower casing Body opening is set in the slip ring accommodating space；And

One slip ring upper housing is set to the end of the slip ring lower case and closes the lower case opening；

Wherein the bearing seat, the slip ring lower case and the slip ring upper housing be fixed in the cabinet the bottom side and It is not rotated with the rod piece around the first axle.

11. as claimed in claim 10 from driving luggage case, which is characterized in that also include:

One bearing part is installed on the rod piece, and the bearing part is to assist the rod piece to rotate relative to the bearing seat.

12. as claimed in claim 7 from driving luggage case, which is characterized in that also include:

One battery module, is coupled to the central processing unit, and the battery module is to provide power supply to described at least consistent Driving wheel module；And

One touch-control shutdown switch is coupled to the central processing unit, and the central processing unit is in the touch-control shutdown switch The battery module is controlled when being triggered stops providing power supply to an at least actuator wheel module.

13. as claimed in claim 12 from driving luggage case, which is characterized in that also include:

One pull rod module, is installed on the cabinet, wherein the touch-control shutdown switch is installed in the pull rod module.

14. as described in claim 1 from driving luggage case, which is characterized in that the cabinet has a front, a back side, one Top side, a bottom side, one first side and one second side, an at least actuator wheel module are installed on the bottom side, the top Side is opposite with the bottom side, and first side connects the top side and the bottom side, and second side connects the top side With the bottom side and opposite with first side, the front is opposite with the back side and is separately connected the top side, described Bottom side, first side and second side, are walked towards first side and from second side along the cabinet To direction definition be that a cabinet moves towards vector, an at least actuator wheel module includes one first actuator wheel module and one second Actuator wheel module, the first actuator wheel module and the second actuator wheel module are adjacent to second side, the self-powered Dynamic luggage case also includes: one first driven wheel module, is set to the bottom side and is adjacent to first side；And

One second driven wheel module is set to the bottom side and is adjacent to first side；

Wherein the first actuator wheel module and the second actuator wheel module are to drive the cabinet in the ground moving；

Wherein the first actuator wheel module, the second actuator wheel module, the first driven wheel module with described second from Driving wheel module is jointly by the case supports on the ground；

Wherein the first actuator wheel module, the second actuator wheel module, the first driven wheel module with described second from Driving wheel module can be rotated relative to the cabinet around the first axle.

15. as described in claim 1 from driving luggage case, which is characterized in that the cabinet has a front, a back side, one Top side, a bottom side, one first side and one second side, an at least actuator wheel module are installed on the bottom side, the top Side is opposite with the bottom side, and first side connects the top side and the bottom side, and second side connects the top side With the bottom side and opposite with first side, the front is opposite with the back side and is separately connected the top side, described Bottom side, first side and second side, are walked towards first side and from second side along the cabinet To direction definition be a cabinet move towards vector, an at least actuator wheel module includes:

One first actuator wheel module is adjacent to first side；

One second actuator wheel module is adjacent to first side；

One third actuator wheel module, is adjacent to second side；And

One the 4th actuator wheel module is adjacent to second side；

Wherein the first actuator wheel module, the second actuator wheel module, the third actuator wheel module and the described 4th cause Driving wheel module is to support and drive the cabinet in the ground moving；

Wherein the first actuator wheel module, the second actuator wheel module, the third actuator wheel module and the described 4th cause Driving wheel module can be rotated relative to the cabinet around the first axle.

16. it is a kind of from driving chassis, characterized by comprising:

One disk body；And

An at least actuator wheel module is coupled to the disk body, and each actuator wheel module includes:

One pedestal, has a first axle and a second axis, and the pedestal is coupled to the disk body and can the relatively described disk body It is rotated around the first axle；And

One wheel is coupled to the pedestal and can rotate relative to the pedestal around the second axis,

The wheel includes:

One wheel body is adapted for contact with a ground；And

One advance motor is set to the wheel in vivo, and the advance motor includes:

One motor stator is fixed in the pedestal；And

One rotor is fixed in the wheel body and is rotationally sheathed on the motor stator；And

One steering motor is coupled to the pedestal；

Wherein the motor stator drives the rotor to rotate and drive the wheel body, makes when reception one controls signal The wheel physical efficiency rolls on the ground；

Wherein the steering motor drives the relatively described disk body of the pedestal around the first axle when reception one turns to signal Rotation.

17. it is a kind of from driving chassis, characterized by comprising:

One disk body；

One steering motor；And

An at least actuator wheel module is coupled to the disk body, and each actuator wheel module includes:

One pedestal, has a first axle and a second axis, and the pedestal is coupled to the disk body and can the relatively described disk body It is rotated around the first axle；And

One wheel is coupled to the pedestal and can rotate relative to the pedestal around the second axis,

The wheel includes:

One wheel body is adapted for contact with a ground；And

One advance motor is set to the wheel in vivo, and the advance motor includes:

One motor stator is fixed in the pedestal；And

One rotor is fixed in the wheel body and is rotationally sheathed on the motor stator；And

Wherein the motor stator drives the rotor to rotate and drive the wheel body, makes when reception one controls signal The wheel physical efficiency rolls on the ground；

Wherein the steering motor drives the relatively described disk body of the pedestal around the first axle when reception one turns to signal Rotation；

Wherein the steering motor is selectively configured at an at least actuator wheel module, and an at least actuator wheel module In advance motor quantity be greater than the steering motor quantity.